A high-efficiency underground coal mining machine

Abstract

The present application provides an underground high-efficiency coal mining machine, including a coal mining machine body; the coal mining machine body includes: a support platform, a control platform, and a cutting drum mechanism; a scissor-type support frame group is installed on the rotating disk, and the end of the scissor-type support frame group away from the rotating disk supports the control platform, and the control platform is synchronously driven by a reduction motor assembly to adjust the cutting angle of the cutting drums on both sides. In the present invention, the control platform is supported by a precisely positioned scissor-type support frame group, and the positioning is precisely adjusted for mining areas at different heights, and the adjustability is more convenient. At the same time, the reduction motor assembly is used to decelerate the rotation rate of the left and right mechanical arms to ensure that the cutting drum is protected during the reciprocating motion to achieve full mining; the underground high-efficiency coal mining machine can adapt to different mining environments, accurately adjust the positioning for different mining angles, improve the overall mining efficiency, and save mining time and mining costs.

Description

Technical Field

[0001] The present application relates to the field of mining machinery and equipment, and in particular to an underground high-efficiency coal mining machine. Background Art

[0002] my country has always been the world's largest coal producer and consumer, and coal has played a vital role in the rapid development of my country's economy. However, due to the harsh and complex environment inside the mine, gas, carbon dust, roof collapse and other problems always threaten the safety of miners and construction personnel, and mineral mining has always been a high-risk industry.

[0003] With the continuous development of mining technology, mineral mining has gradually evolved from traditional manual mining to mechanized and semi-automated mining. For mining in areas with thick coal seams and rich mineral resources, large-scale coal mining machines are currently used for mechanized water mining. However, for fully mechanized mining in gently inclined thin coal seams, large-scale coal mining machines are not suitable for mining areas with relatively thin coal seams and small spaces. At present, mining mainly relies on manual blasting and coal dropping, which is very risky.

[0004] With the continuous development and application of small and medium-sized coal mining equipment, the use of small and medium-sized coal mining equipment to replace manual mining equipment can greatly improve safety. Coal mining machines can efficiently replace manual operations by operating flexibly in mining areas. However, due to power limitations, the existing coal mining machines used in mining can only be equipped with a small diameter cutting drum, which requires a variety of cutting angle adjustment equipment to achieve complete cutting for mining areas at different heights. When adding high-power-ratio machinery to install a large-diameter cutting drum, the overall energy consumption is high and it cannot be adapted to coal mining working faces with smaller spaces. In addition, the existing left and right cutting drums need to frequently adjust the independent cutting angle adjustment equipment during the movement of the coal mining machine. When the deceleration system is not equipped, it is very easy to cause damage to the cutting drum, resulting in low mining efficiency and inability to make accurate and convenient adjustments for different working conditions. Summary of the invention

[0005] The present application provides a high-efficiency underground coal mining machine, which uses the same reduction motor assembly to drive the precise adjustment of the angles of the cutting drums on the left and right sides, and performs precise positioning adjustment for different mining heights. The overall flexibility is more comprehensive, ensuring higher mining efficiency and mining time.

[0006] The present application provides an underground high-efficiency coal mining machine, which includes a coal mining machine body moving along a track of a coal mining working face, the coal mining working face is provided with a traction chain group for traction of the coal mining machine body, and the coal mining working face is provided with a scraper conveyor for transporting the coal seam cut by the coal mining machine body; the coal mining machine body includes: a support platform matched with the track and the traction chain group, a control platform connected to the support platform and capable of being lifted and lowered, and a cutting drum mechanism mounted on the control platform; wherein,

[0007] The support platform is equipped with a rotating disk that can rotate 360° in a circumferential direction, and a gear driving assembly for driving the rotating disk to rotate is arranged inside the support platform; a scissor-type support frame group is equipped on the rotating disk, and the end of the scissor-type support frame group away from the rotating disk supports the control platform, and the scissor-type support frame group is driven by a screw drive mechanism to deform and support the control platform to rise and fall;

[0008] The cutting drum mechanism comprises: a left mechanical arm and a right mechanical arm; the left mechanical arm is equipped with a left cutting drum, and the right mechanical arm is equipped with a right cutting drum;

[0009] The control platform synchronously drives the left mechanical arm and the right mechanical arm through a reduction motor assembly to adjust the cutting angle in a manner of moving away from or approaching each other;

[0010] The reduction motor assembly comprises: a base, a reduction motor mounted on the base, and a pin connected to the output shaft of the reduction motor; the pin is rotatably connected to the left mechanical arm and the right mechanical arm, a bevel gear plate located between the left mechanical arm and the right mechanical arm is coaxially rotatably connected to the pin, the upper and lower surfaces of the bevel gear plate are circumferentially provided with bevel teeth, the lower bevel teeth of the bevel gear plate are meshed and connected to the left mechanical arm, and the upper bevel teeth of the bevel gear plate are rotatably connected to the right mechanical arm through a change-of-direction gear member;

[0011] The control platform is also provided with a dustproof sleeve for covering the reduction motor assembly, and the dustproof sleeve is layered with arc-shaped clearance grooves for avoiding the sliding of the left mechanical arm and the right mechanical arm, and the interior of the arc-shaped clearance groove is slidably equipped with a telescopic dustproof plate connected to the left mechanical arm and / or the right mechanical arm;

[0012] The coal mining machine body also includes a shoveling mechanism; the shoveling mechanism includes a bucket mechanical arm assembled on the supporting platform, and a bucket arranged on the bucket mechanical arm.

[0013] In the present invention, the control platform is supported by a precisely positioned scissor-type support frame group, and the mining area at different heights is precisely adjusted and positioned, making the adjustability more convenient. At the same time, a reduction motor assembly is used to reduce the rotation rate of the left and right mechanical arms to ensure that the cutting drum is protected during the reciprocating motion to achieve full mining. The underground high-efficiency coal mining machine can adapt to different mining environments, accurately adjust the positioning for different mining angles, improve the overall mining efficiency, and save mining time and mining costs.

[0014] In a specific possible implementation, the rotating disk is embedded in the supporting platform through a roller bearing, and a damping support shaft is provided at the bottom of the rotating disk, which rotates coaxially with the rotating disk. The circumferential rotation performance of the rotating disk is more stable.

[0015] In a specific embodiment, the gear drive assembly includes a servo motor;

[0016] A gear ring is provided on the circumference of the lower part of the rotating disk, and the output shaft of the servo motor is connected to a driving gear meshing with the gear ring. The PLC control system controls the servo motor to start correspondingly according to different mining angles, and drives the rotating disk to have stable positioning performance.

[0017] In a specific possible implementation scheme, the scissor-type support frame group includes: two scissor frames arranged opposite to each other;

[0018] Each scissor frame comprises: a plate body, and two rod groups symmetrically arranged on both sides of the plate body; wherein,

[0019] Each rod group includes a first rod rotatably connected to the plate body, and a second rod rotatably connected to the plate body; one end of the first rod away from the plate body is rotatably connected to the rotating disk, and one end of the second rod away from the plate body is rotatably connected to the control platform;

[0020] The screw drive mechanism drives the two plates to move away from or approach each other;

[0021] The scissor-type support frame assembly also includes a plurality of auxiliary telescopic rods arranged between the two scissor-type frames, the first end of each auxiliary telescopic rod being mounted on the rotating disk, and the second end of each auxiliary telescopic rod being supported and connected to the control platform. The two plates change the support angles of the plurality of rods when they are moving away from and approaching each other, thereby achieving highly accurate positioning of the control platform, and the plurality of auxiliary telescopic rods rise and fall correspondingly with the change of the support angles of the plurality of rods, thereby achieving multi-point support and enhancing the connection stability between the rotating disk and the control platform.

[0022] In a specific embodiment, the two plates are respectively a first plate and a second plate;

[0023] The screw drive mechanism includes a threaded rod and a drive motor for driving the threaded rod to rotate circumferentially; wherein,

[0024] The first plate is provided with a left-hand threaded hole matched with the threaded rod, and the second plate is provided with a right-hand threaded hole matched with the threaded rod. Under the action of the driving motor, the threaded rod is caused to rotate circumferentially, and the first plate and the second plate are brought closer to or farther from each other during the rotation of the threaded rod, thereby achieving the purpose of accurately positioning the height of the control platform.

[0025] In a specific implementation scheme, the left mechanical arm includes: a left upper arm, and a left lower arm rotatably connected to the left upper arm; wherein,

[0026] A first forearm driving joint is provided at the connection between the left upper arm and the left forearm;

[0027] The left upper arm is provided with a first mounting boss at one end away from the left lower arm, and a first bearing connected to the pin shaft by a key is mounted on the first mounting boss, and a first bevel gear ring meshing with the lower bevel gear of the bevel gear plate is provided on the outer ring of the first bearing. When the reduction motor assembly drives the bevel gear plate to rotate, the left upper arm is driven to rotate synchronously at a low speed.

[0028] In a specific implementation scheme, the right mechanical arm includes: a right upper arm, and a right lower arm rotatably connected to the right upper arm; wherein,

[0029] A second forearm driving joint is provided at the connection between the right upper arm and the right forearm;

[0030] The end of the right arm away from the right forearm is provided with a second mounting boss, the second mounting boss is equipped with a second bearing connected to the pin shaft by a key, and the outer ring of the second bearing is provided with a second bevel gear ring meshingly connected to the direction-changing gear member. Under the action of the direction-changing gear member, the left arm and the right arm form a movement mode of moving away from or approaching each other, and have more flexible operation for adjusting the mining angle or the comprehensiveness of mining during the reciprocating motion.

[0031] In a specific possible implementation scheme, an inner ring tooth hole is opened at the center of the bevel gear plate, and the inner ring tooth hole is meshedly connected with a harmonic reduction assembly;

[0032] The harmonic reduction assembly is coaxially connected to the pin shaft through a key. The harmonic reduction assembly includes a wave generator and a flexible wheel, and the purpose of high-efficiency reduction is achieved when the flexible wheel meshes with the driving bevel gear plate.

[0033] In a specific possible implementation manner, the direction-changing gear member includes a bevel gear rotatably connected to the interior of the dustproof sleeve;

[0034] The bevel gear is rotatably connected to the dustproof sleeve via a third bearing;

[0035] The bevel gear is meshedly connected between the upper bevel teeth of the bevel gear plate and the second bevel gear ring. The directional transmission performance is stable, and the adaptation and adjustment of the mining angle are convenient.

[0036] In a specific possible implementation scheme, a shoveling movable seat is provided on the support platform, and the bucket mechanical arm is rotatably connected to the shoveling movable seat, so as to realize multi-directional rotation and a wider shoveling range. BRIEF DESCRIPTION OF THE DRAWINGS

[0037] Figure 1 A schematic diagram of the structure of an underground high-efficiency coal mining machine provided in an embodiment of the present application;

[0038] Figure 2 A schematic diagram of the structure of a scissor-type support frame assembly provided in an embodiment of the present application;

[0039] Figure 3 A schematic diagram of the structure of the cutting drum mechanism provided in an embodiment of the present application;

[0040] Figure 4 An exploded view of a reduction motor assembly provided in an embodiment of the present application;

[0041] Figure 5 A schematic diagram of the structure of the dustproof sleeve provided in an embodiment of the present application;

[0042] Figure 6 A schematic diagram of the structure of the retractable dustproof plate provided in an embodiment of the present application.

[0043] Figure Number:

[0044] Track-100, drag chain set-110, scraper conveyor-120;

[0045] Support platform 200, rotating disk 210, gear ring 211, servo motor 212, driving gear 213, damping support shaft 214, roller bearing 215;

[0046] Control platform-300, left mechanical arm-310, left upper arm-311, left forearm-312, first forearm driving joint-313, left cutting drum-314, first drum driving member-315, first bearing-316, first bevel gear ring-317, right mechanical arm-320, right upper arm-321, right forearm-322, second forearm driving joint-323, right cutting drum-324, second drum driving member-3 25. Second bearing 326, camera assembly 330, detection assembly 340, early warning device 350, reduction motor assembly 360, harmonic reduction assembly 361, bevel gear plate 362, bevel gear 363, third bearing 364, pin 365, keyway 366, dustproof sleeve 367, fourth bearing 368, telescopic dustproof plate 369, base 370, reduction motor 371;

[0047] Scissor-type support frame assembly-400, drive motor-410, first plate-420, second plate-430, threaded rod-440, first rod-450, second rod-460, lifting column-470, auxiliary telescopic rod-480;

[0048] Bucket mechanical arm-500, bucket-510, shovel movable base-520. DETAILED DESCRIPTION

[0049] In order to make the objectives, technical solutions and advantages of the present application clearer, the present application will be further described in detail below in conjunction with the accompanying drawings.

[0050] It should be noted that, unless otherwise defined, the technical terms or scientific terms used in one or more embodiments of this specification should be understood by people with ordinary skills in the field to which this disclosure belongs. The "first", "second" and similar words used in one or more embodiments of this specification do not indicate any order, quantity or importance, but are only used to distinguish different components. "Include" or "comprise" and similar words mean that the elements or objects appearing before the word cover the elements or objects listed after the word and their equivalents, without excluding other elements or objects. "Connect" or "connected" and similar words are not limited to physical or mechanical connections, but may include electrical connections, whether direct or indirect. "Up", "down", "left", "right" and the like are only used to indicate relative positional relationships. When the absolute position of the described object changes, the relative positional relationship may also change accordingly.

[0051] In order to facilitate the understanding of the underground high-efficiency coal mining machine provided by the embodiment of the present application, its application scenario is first explained. The underground high-efficiency coal mining machine is a mining machinery and equipment, which is applied to the field of coal mining. With the continuous development of mining technology, mineral mining work has gradually developed from traditional manual mining to mechanized and semi-automated mining. For mining with thick coal seams and rich mineral resources, large-scale coal mining machines are currently mainly used for mechanized water mining. However, for mining areas with relatively thin coal seams, small spaces and rugged tunnels, large-scale coal mining machinery is not suitable. At present, it mainly relies on manual mining, which is very risky. With the continuous development and application of small and medium-sized coal mining equipment, the use of small and medium-sized coal mining equipment to replace manual mining equipment can greatly improve safety. Coal mining machines can efficiently replace manual operation by performing flexible operations in mineral areas. However, the existing coal mining machines for minerals are limited by power and can only be equipped with a small diameter of cutting drum, which requires a variety of cutting angle adjustment equipment to achieve complete cutting for mining areas of different heights. When adding high-power-ratio machinery to install a large-diameter cutting drum, the overall energy consumption is high, and it cannot adapt to coal mining faces with smaller spaces. In addition, the existing left and right cutting drums need to frequently adjust the independent cutting angle adjustment equipment during the operation of the coal mining machine. When the reduction system is not equipped, it is very easy to cause damage to the cutting drums, resulting in low mining efficiency, and it is impossible to accurately and conveniently adjust them for different working conditions. In view of this, the underground high-efficiency coal mining machine in this application uses the same reduction motor assembly to drive the precise adjustment of the angles of the cutting drums on the left and right sides, and performs precise positioning and adjustment for different mining heights. The overall flexibility is more comprehensive, ensuring higher mining efficiency and mining time, saving mining energy consumption and saving mining costs.

[0052] refer to Figure 1 , Figure 1 The schematic diagram of the structure of the underground high-efficiency coal mining machine is shown in FIG. The underground high-efficiency coal mining machine provided in the embodiment of the present application includes a coal mining machine body moving along a track 100 of a coal mining working face, the track 100 is laid in a gently inclined thin coal seam fully mechanized mining tunnel, and a track wheel adapted to the track 100 is provided at the bottom of the coal mining machine body, so that the coal mining machine body can perform coal mining operations while moving along the track 100.

[0053] The coal mining working face is provided with a traction chain group 110 for traction of the coal mining machine body, and the coal mining working face is provided with a scraper conveyor 120 for conveying the coal seam cut by the coal mining machine body; the traction chain group 110 makes the coal mining machine body move along the track 100 during the traction process, thereby reducing the power loss of existing small and medium-sized coal mining equipment using crawler tracks, and the movement is stable, reliable and accurate. The scraper conveyor 120 can timely and quickly convey the cut coal seam, and realize the overall flow operation.

[0054] The coal mining machine body is connected to a PLC control system, and a signal receiver is arranged on the coal mining machine body to assist an external manual operation platform to control the coal mining machine body to perform automatic operation in the mining area. In addition, the coal mining machine body is provided with a plurality of camera components 330 for collecting multi-directional graphic information of the coal mining working face, and is equipped with a detection component 340, which is used to detect gas concentration, temperature changes, etc. At the same time, the detection component 340 cooperates with the early warning device 350 according to the change of the hazard concentration in the mine to warn the staff of the coal mining working face.

[0055] The coal mining machine body is provided with a support platform 200, on which a rotating disk 210 capable of 360° circumferential rotation is mounted, and a gear drive assembly for driving the rotating disk 210 to rotate is disposed inside the support platform 200. The rotating disk 210 is embedded and assembled on the support platform 200 through a roller bearing 215, and a damping support shaft 214 that rotates coaxially with the rotating disk 210 is disposed at the bottom of the rotating disk 210. The circumferential rotation performance of the rotating disk 210 is more stable. It can be seen that under the rotation of the rotating disk 210, the cutting drum mechanism can adjust the mining in multiple directions in the mining area.

[0056] The gear drive assembly includes a servo motor 212; a gear ring 211 is provided on the lower circumference of the rotating disk 210, and the output shaft of the servo motor 212 is connected to a driving gear 213 meshing with the gear ring 211. The PLC control system obtains different mining angles according to the imaged mining area, controls the servo motor 212 to start accordingly, and drives the rotating disk 210 to rotate and position stably.

[0057] Combination Figure 2 As shown in the figure, a scissor-type support frame group 400 is installed on the rotating disk 210. The end of the scissor-type support frame group 400 away from the rotating disk 210 supports the control platform 300. The scissor-type support frame group 400 drives the control platform 300 to rise and fall after deformation through the screw drive mechanism. According to the height of different mining areas, it is adjusted to a suitable height, so that the cutting drum mechanism can achieve comprehensive mining during the reciprocating motion, and the construction efficiency is accelerated. In the embodiment of the present application, for example, when the height of the mining area is 3m, the scissor-type support frame group 400 adjusts the support control platform 300 to be at a height of 1.5m, and the cutting drum mechanism on the control platform 300 has a left cutting drum 314 and a right cutting drum 324. The reduction motor assembly 360 controls the left cutting drum 314 to be located above the mining area and rotates with a cutting radius of 1.5m, and synchronously controls the right cutting drum 324 to be located below the mining area and rotates with a cutting radius of 1.5m. In conjunction with the travel speed of the coal mining machine body, full coverage cutting is achieved, mining efficiency is accelerated, the energy consumption required to mine one unit of coal is reduced, and mining costs are saved.

[0058] When the scissor-type support frame group 400 is specifically made to support the positioning height accurately and reliably and without self-weight settlement, the scissor-type support frame group 400 includes: two scissor frames arranged opposite to each other; each scissor frame includes: a plate body, and two rod groups symmetrically arranged on both sides of the plate body; wherein each rod group includes a first rod 450 rotatably connected to the plate body, and a second rod 460 rotatably connected to the plate body; the end of the first rod 450 away from the plate body is rotatably connected to the rotating disk 210, and the end of the second rod 460 away from the plate body is rotatably connected to the control platform 300; the screw drive mechanism drives the two plate bodies to move away from or towards each other. The first rod 450 and the second rod 460 in the present application both use ear plate shafts or rotating shafts when connecting the corresponding plate body, the rotating disk 210 and the control platform 300, and the support angles of multiple rods are changed during the process of the two plate bodies moving away from and approaching each other, thereby realizing the highly accurate positioning of the control platform 300. The two plates are respectively a first plate 420 and a second plate 430; the screw drive mechanism includes a threaded rod 440 and a drive motor 410 for driving the threaded rod 440 to rotate circumferentially; wherein, the first plate 420 is provided with a left-handed threaded hole matching the threaded rod 440, and the second plate 430 is provided with a right-handed threaded hole matching the threaded rod 440. Under the action of the drive motor 410, the threaded rod 440 rotates circumferentially, and the first plate 420 and the second plate 430 are moved closer to or away from each other during the rotation of the threaded rod 440, thereby achieving the purpose of accurately positioning the height of the control platform 300. At the same time, in order to make the drive motor 410 adapt to the deformation and lifting of the scissor-type support frame group 400, the drive motor 410 is installed on the rotating disk 210 through a lifting column 470, and the lifting column 470 is an electric telescopic rod or a pneumatic autonomous telescopic rod, so that when the scissor-type support frame group rises and falls correspondingly, the lifting and positioning are synchronously performed by controlling or driving the lifting column 470.

[0059] In addition, in order to enhance the stability between the rotating disk 210 and the control platform 300, the scissor-type support frame group 400 also includes a plurality of auxiliary telescopic rods 480 arranged between the two scissor-type frames, the first end of each auxiliary telescopic rod 480 being assembled on the rotating disk 210, and the second end of each auxiliary telescopic rod 480 supporting and connecting the control platform 300. The plurality of auxiliary telescopic rods are correspondingly raised and lowered with the change of the support angle of the plurality of rods, thereby realizing multi-point support and enhancing the connection stability between the rotating disk and the control platform. The plurality of auxiliary telescopic rods 480 are all pneumatic telescopic rods, and the plurality of auxiliary telescopic rods 480 are connected to the same high-pressure chamber. When the driving motor 410 drives the deformation of the scissor-type support frame group 400 and supports the control platform 300 to rise, the plurality of auxiliary telescopic rods 480 rise correspondingly and reduce the gas pressure inside the high-pressure chamber; when the driving motor 410 drives the deformation of the scissor-type support frame group 400 and supports the control platform 300 to descend, the plurality of auxiliary telescopic rods 480 descend correspondingly and increase the gas pressure inside the high-pressure chamber. It should be specifically explained that in the embodiment of the present application, the driving motor 410 drives the deformation of the scissor-type support frame group 400 and supports the control platform 300 to rise and fall within a relatively small range, and the lifting and lowering adjustment range is between 10cm and 50cm. The provision of multiple auxiliary telescopic rods 480 can prevent the vibration force generated by the left cutting drum 314 and the right cutting drum 324 during the cutting operation from causing damage to the scissor-type support frame group 400, ensure the multi-point connection stability of the rotating disk 210 and the control platform 300, and reduce the damage caused by shaking. Of course, in other embodiments of the present application, when the lifting and lowering adjustment range is relatively large, multiple auxiliary telescopic rod bodies 480 can use synchronously lifting hydraulic telescopic rods, cooperate with the start-up of the driving motor 410, and realize the synchronous adjustment of the lifting and lowering position of the control platform 300 to be stable, and completely avoid the occurrence of self-weight settlement caused by its own weight.

[0060] Combination Figure 3 and Figure 4 As shown in , the cutting drum mechanism includes: a left mechanical arm 310 and a right mechanical arm 320; the left mechanical arm 310 is equipped with a left cutting drum 314, and the right mechanical arm 320 is equipped with a right cutting drum 324. The control platform 300 synchronously drives the left mechanical arm 310 and the right mechanical arm 320 to adjust the cutting angle in a manner of moving away from or approaching each other through a reduction motor assembly 360;

[0061] Specifically, the left robotic arm 310 includes: a left upper arm 311, and a left lower arm 312 rotatably connected to the left upper arm 311; wherein a first lower arm driving joint 313 is provided at the connection between the left upper arm 311 and the left lower arm 312; a left cutting roller 314 is assembled at one end of the left lower arm 312 away from the left upper arm 311, and a first roller driving component 315 for driving the left cutting roller 314 is provided on the left lower arm 312.

[0062] The right robotic arm 320 includes: a right upper arm 321, and a right lower arm 322 rotatably connected to the right upper arm 321; wherein, a second lower arm driving joint 323 is provided at the connection between the right upper arm 321 and the right lower arm 322; a right cutting roller 324 is assembled at one end of the right lower arm 322 away from the right upper arm 321, and a second roller driving component 325 for driving the right cutting roller 324 is provided on the right lower arm 322.

[0063] The left robotic arm 310 and the right robotic arm 320 are independently controlled by a PLC control system or a manual control platform, and the mining angle is adjusted in multiple directions according to the mining area. These are control methods well known to those skilled in the art and will not be elaborated herein.

[0064] The reduction motor assembly 360 includes: a base 370, a reduction motor 371 mounted on the base 370, and a pin 365 connected to the output shaft of the reduction motor 371; the pin 365 is rotatably connected to the left mechanical arm 310 and the right mechanical arm 320, and a bevel gear plate 362 located between the left mechanical arm 310 and the right mechanical arm 320 is coaxially rotatably connected to the pin 365, and the upper and lower surfaces of the bevel gear plate 362 are circumferentially provided with bevel teeth, and the bevel teeth on the lower side of the bevel gear plate 362 are meshed and connected with the left mechanical arm 310, and the bevel gear plate 362 is meshed with the left mechanical arm 310. The bevel teeth on the gear plate 362 are rotatably connected to the right mechanical arm 320 through a reversing gear member; the pin 365 in the present application is fixedly connected to the output shaft of the reduction motor 371, and a keyway 366 is provided on the pin 365. The pin 365 is connected to the left mechanical arm 310, the right mechanical arm 320 and the bevel gear plate 362 through a key, so that under the condition of deceleration, the reduction motor 371 synchronously controls the left cutting drum 314 and the right cutting drum 324 to complete the corresponding cutting radius in a manner of moving away from or approaching each other. For smaller mining areas where no mechanical arm swing cutting is required, the left mechanical arm 310 and the right mechanical arm 320 can be relatively rotated and adjusted to a fixed mining area, and cooperate with the traction chain group 110 to complete mobile mining. The left mechanical arm 310 and the right mechanical arm 320 are controlled to move synchronously by the same reduction motor assembly 360, which reduces the installation of equipment and reduces the manufacturing cost while reducing the speed.

[0065] When the assembly is tight and complete, a first mounting boss is provided at one end of the left upper arm 311 away from the left lower arm 312, and a first bearing 316 connected to the pin 365 by a key is mounted on the first mounting boss, and a first bevel gear ring 317 meshing with the lower bevel teeth of the bevel gear plate 362 is provided on the outer ring of the first bearing 316. When the reduction motor assembly 360 drives the bevel gear plate 362 to rotate, it drives the left upper arm 311 to rotate synchronously at a low speed.

[0066] The right arm 321 is provided with a second mounting boss matched with the first mounting boss at one end away from the right arm 322. The second mounting boss is provided with a second bearing 326 connected to the pin 365 by a key. The outer ring of the second bearing 326 is provided with a second bevel gear ring meshed with the direction-changing gear member. Under the action of the direction-changing gear member, the left arm 311 and the right arm 321 form a movement mode of moving away from or approaching each other, and have more flexible operation for adjusting the mining angle or the comprehensiveness of mining during the reciprocating motion.

[0067] The center of the bevel gear disc 362 is provided with an inner ring tooth hole, and the inner ring tooth hole is meshed with a harmonic reduction assembly 361; the bevel gear disc 362 is used as a steel wheel in the harmonic reducer, and the harmonic reduction assembly 361 includes a wave generator and a flexible wheel, and when the flexible wheel meshes and drives the bevel gear disc 362, the purpose of efficient deceleration is achieved. The harmonic reduction assembly 361 is coaxially connected to the pin shaft 365 through a key. Figure 5 and Figure 6 As shown in the figure, in order to ensure the dustproof performance of the equipment facing the mining layer, a dustproof sleeve 367 for covering the reduction motor assembly 360 is also provided on the control platform 300, and the dustproof sleeve 367 is layered with arc-shaped clearance grooves for avoiding the sliding of the left robotic arm 310 and the right robotic arm 320, and the inner sliding of the arc-shaped clearance groove is equipped with a telescopic dustproof plate 369 connected to the left robotic arm 310 and / or the right robotic arm 320; the telescopic dustproof plate 369 is a rubber pleated plate, which blocks the corresponding arc-shaped clearance groove and is retracted and extended with the swing of the left robotic arm 310 and / or the right robotic arm 320.

[0068] Combination Figure 4 As shown in , the present application adopts a direction-changing gear member to make the left arm 311 and the right arm 321 swing away from each other and approach each other. The direction-changing gear member includes a bevel gear 363 rotatably connected to the inside of the dust-proof sleeve 367; the bevel gear 363 is rotatably connected to the dust-proof sleeve 367 through the third bearing 364; the bevel gear 363 is meshed and connected between the upper bevel teeth and the second bevel gear ring of the bevel gear plate 362. The direction-changing transmission performance is stable, which is convenient for the adaptive adjustment of the mining angle. At the same time, the closed end of the dust removal sleeve is equipped with a fourth bearing 368 sleeved on the pin 365 to ensure the rotation stability of the pin 365 in the dust removal sleeve. The left arm 311 and the right arm 321 are positioned and installed on the pin 365, and do not rotate with the pin 365 under the action of the first bearing 316 and the second bearing 326, so as to realize the stable swing of the left arm 311 and the right arm 321 approaching or moving away from each other under the action of the reduction drive.

[0069] At the same time, reference Figure 1As shown in , in order to improve the loading efficiency, the coal mining machine body also includes a shoveling mechanism; the shoveling mechanism and the cutting drum mechanism operate independently. That is, after the cutting drum mechanism cuts the coal seam, the shoveling mechanism simultaneously cleans and shovels the mined coal seam to the scraper conveyor 120 for transportation, and the two work independently of each other, thereby accelerating the mining efficiency.

[0070] The shoveling mechanism includes a bucket mechanical arm 500 mounted on a support platform 200, and a bucket 510 arranged on the bucket mechanical arm 500. A shoveling movable seat 520 is arranged on the support platform 200, and the bucket mechanical arm 500 is rotatably connected to the shoveling movable seat 520. Multi-directional rotation is achieved, and the shoveling range is wider. The shoveling movable seat 520 is provided with a stepper motor connected to the bucket mechanical arm 500. Under the action of the stepper motor, the bucket mechanical arm 500 can rotate in a circumferential direction, and cooperate with the three-axis bucket mechanical arm 500 to expand the cleaning and shoveling range.

[0071] In the examples of this application, all types of motors used to drive the moving parts are explosion-proof motors. While being driven by green energy, they meet the safety standards for underground equipment.

[0072] In the present invention, the control platform 300 is supported by a precisely positioned scissor-type support frame group 400, and the mining area at different heights is precisely adjusted and positioned, making the adjustability more convenient. At the same time, the reduction motor assembly 360 is used to reduce the rotation rate of the left mechanical arm 310 and the right mechanical arm 320, ensuring that the cutting drum is protected during the reciprocating motion to achieve full mining; the coal mining machine body as a whole has the advantages of adapting to different mining environments, accurately adjusting the positioning for different mining angles, and improving the overall mining efficiency.

[0073] A person of ordinary skill in the art should understand that the discussion of any of the above embodiments is merely illustrative and is not intended to imply that the scope of the present disclosure (including the claims) is limited to these examples. In line with the concept of the present disclosure, the technical features in the above embodiments or different embodiments may be combined, the steps may be implemented in any order, and there are many other variations of different aspects of one or more embodiments of the present specification as above, which are not provided in detail for the sake of simplicity.

[0074] In addition, to simplify the description and discussion, and in order not to obscure one or more embodiments of the present specification, known power / ground connections to integrated circuits and other components may or may not be shown in the provided figures. In addition, devices may be shown in the form of block diagrams to avoid obscuring one or more embodiments of the present specification, and this also takes into account the fact that the details of the implementation of these block diagram devices are highly dependent on the platform on which one or more embodiments of the present specification will be implemented (i.e., these details should be fully within the scope of understanding of those skilled in the art). Where specific details are set forth to describe exemplary embodiments of the present disclosure, it is apparent to those skilled in the art that one or more embodiments of the present specification may be implemented without these specific details or with variations in these specific details. Therefore, these descriptions should be considered illustrative rather than restrictive.

[0075] One or more embodiments of this specification are intended to cover all such substitutions, modifications and variations that fall within the broad scope of the appended claims. Therefore, any omissions, modifications, equivalent substitutions, improvements, etc. made within the spirit and principles of one or more embodiments of this specification should be included in the scope of protection of this disclosure.

[0076] The above are only specific implementations of the present application, but the protection scope of the present application is not limited thereto. Any technician familiar with the technical field can easily think of changes or substitutions within the technical scope disclosed in the present application, which should be included in the protection scope of the present application. Therefore, the protection scope of the present application should be based on the protection scope of the claims.

Claims

1. An underground high-efficiency coal mining machine, comprising a coal mining machine body moving along a track of a coal mining working face, the coal mining working face is provided with a traction chain group for traction of the coal mining machine body, and the coal mining working face is provided with a scraper conveyor for conveying the coal seam cut by the coal mining machine body; characterized in that: The coal mining machine body comprises: a support platform matched with the track and the traction chain assembly, a control platform connected to the support platform and capable of being lifted and lowered, and a cutting drum mechanism mounted on the control platform; wherein, The support platform is equipped with a rotating disk that can rotate 360° in a circumferential direction, and a gear driving assembly for driving the rotating disk to rotate is arranged inside the support platform; a scissor-type support frame group is equipped on the rotating disk, and the end of the scissor-type support frame group away from the rotating disk supports the control platform, and the scissor-type support frame group is driven by a screw drive mechanism to deform and support the control platform to rise and fall; The cutting drum mechanism comprises: a left mechanical arm and a right mechanical arm; the left mechanical arm is equipped with a left cutting drum, and the right mechanical arm is equipped with a right cutting drum; The control platform synchronously drives the left mechanical arm and the right mechanical arm through a reduction motor assembly to adjust the cutting angle in a manner of moving away from or approaching each other; The reduction motor assembly comprises: a base, a reduction motor mounted on the base, and a pin connected to the output shaft of the reduction motor; the pin is rotatably connected to the left mechanical arm and the right mechanical arm, a bevel gear plate located between the left mechanical arm and the right mechanical arm is coaxially rotatably connected to the pin, the upper and lower surfaces of the bevel gear plate are circumferentially provided with bevel teeth, the lower bevel teeth of the bevel gear plate are meshed and connected to the left mechanical arm, and the upper bevel teeth of the bevel gear plate are rotatably connected to the right mechanical arm through a change-of-direction gear member; The control platform is also provided with a dustproof sleeve for covering the reduction motor assembly, and the dustproof sleeve is layered with arc-shaped clearance grooves for avoiding the sliding of the left mechanical arm and the right mechanical arm, and the interior of the arc-shaped clearance groove is slidably equipped with a telescopic dustproof plate connected to the left mechanical arm and / or the right mechanical arm; The coal mining machine body also includes a shoveling mechanism; the shoveling mechanism includes a bucket mechanical arm assembled on the supporting platform, and a bucket arranged on the bucket mechanical arm.

2. The underground high-efficiency coal mining machine according to claim 1, characterized in that: The rotating disk is embedded and assembled on the supporting platform through a roller bearing, and a damping support shaft which rotates coaxially with the rotating disk is arranged at the bottom of the rotating disk.

3. The underground high-efficiency coal mining machine according to claim 2, characterized in that: The gear drive assembly includes a servo motor; A gear ring is provided in the circumferential direction of the lower part of the rotating disk, and the output shaft of the servo motor is connected with a driving gear meshing with the gear ring.

4. The underground high-efficiency coal mining machine according to claim 1, characterized in that: The scissor-type support frame group comprises: two scissor frames arranged opposite to each other; Each scissor frame comprises: a plate body, and two rod groups symmetrically arranged on both sides of the plate body; wherein, Each rod group includes a first rod rotatably connected to the plate body, and a second rod rotatably connected to the plate body; one end of the first rod away from the plate body is rotatably connected to the rotating disk, and one end of the second rod away from the plate body is rotatably connected to the control platform; The screw drive mechanism drives the two plates to move away from or approach each other; The scissor-type support frame group also includes a plurality of auxiliary telescopic rods arranged between the two scissor frames, a first end of each auxiliary telescopic rod is assembled on the rotating disk, and a second end of each auxiliary telescopic rod is supported and connected to the control platform.

5. The underground high-efficiency coal mining machine according to claim 4, characterized in that: The two plates are respectively a first plate and a second plate; The screw drive mechanism includes a threaded rod and a drive motor for driving the threaded rod to rotate circumferentially; wherein, The first plate is provided with a left-hand threaded hole matched with the threaded rod, and the second plate is provided with a right-hand threaded hole matched with the threaded rod.

6. The underground high-efficiency coal mining machine according to claim 1, characterized in that: The left mechanical arm comprises: a left upper arm, and a left lower arm rotatably connected to the left upper arm; wherein, A first forearm driving joint is provided at the connection between the left upper arm and the left forearm; A first mounting boss is provided at one end of the left upper arm away from the left lower arm, and a first bearing connected to the pin shaft by a key is mounted on the first mounting boss. The outer ring of the first bearing is provided with a first bevel gear ring meshing with the lower bevel teeth of the bevel gear plate.

7. The underground high-efficiency coal mining machine according to claim 6, characterized in that: The right mechanical arm comprises: a right upper arm, and a right lower arm rotatably connected to the right upper arm; wherein, A second forearm driving joint is provided at the connection between the right upper arm and the right forearm; A second mounting boss is provided at one end of the right upper arm away from the right lower arm, and a second bearing connected to the pin shaft by a key is mounted on the second mounting boss, and an outer ring of the second bearing is provided with a second bevel gear ring meshingly connected to the direction-changing gear member.

8. The underground high-efficiency coal mining machine according to claim 7, characterized in that: An inner ring tooth hole is formed at the center of the bevel gear plate, and a harmonic reduction assembly is meshedly connected to the inner ring tooth hole; The harmonic reduction assembly is coaxially rotatably connected with the pin shaft via a key.

9. The underground high-efficiency coal mining machine according to claim 8, characterized in that: The direction-changing gear member includes a bevel gear rotatably connected to the interior of the dust-proof sleeve; The bevel gear is rotatably connected to the dustproof sleeve via a third bearing; The bevel gear is meshingly connected between the upper bevel teeth of the bevel gear plate and the second bevel gear ring.

10. The underground high-efficiency coal mining machine according to claim 1, characterized in that: The supporting platform is provided with a shoveling movable seat, and the bucket mechanical arm is rotatably connected to the shoveling movable seat.

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